CN105673323B - A kind of wind generating set pitch control angle calibration method, apparatus and system - Google Patents

A kind of wind generating set pitch control angle calibration method, apparatus and system Download PDF

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Publication number
CN105673323B
CN105673323B CN201610131549.3A CN201610131549A CN105673323B CN 105673323 B CN105673323 B CN 105673323B CN 201610131549 A CN201610131549 A CN 201610131549A CN 105673323 B CN105673323 B CN 105673323B
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angle
encoder
preset
absolute value
references
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CN105673323A (en
Inventor
李德志
黄虎
杜杨超
贾文强
李超峰
姜宏伟
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Taiyuan Heavy Industry Engineering Technology Co., Ltd.
Taiyuan Heavy Industry Co Ltd
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Taiyuan Heavy Industry Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/328—Blade pitch angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
    • F05B2270/809—Encoders
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Abstract

The embodiment of the invention discloses a kind of wind generating set pitch control angle calibration method, apparatus and system, method includes：The position where references angle is determined, pitch variable bearings are rotated counterclockwise into preset first angle from the position of the references angle, absolute value encoder is reset, pitch variable bearings are rotated clockwise to the references angle；The first current value when the absolute value encoder is located at the references angle is obtained, the preset first angle of incremental encoder is demarcated using first current value；The pitch variable bearings are rotated clockwise to preset second angle, obtain the second current value when the absolute value encoder is located at the preset second angle, the preset second angle of the incremental encoder is demarcated using second current value, wherein the preset second angle is more than the references angle.The technical scheme of the embodiment of the present invention can improve the operational efficiency and stability of unit.

Description

A kind of wind generating set pitch control angle calibration method, apparatus and system
Technical field
The present invention relates to wind-driven generator technical group field, and in particular to a kind of wind generating set pitch control angle calibration side Method, apparatus and system.
Background technology
Wind power generating set is generated electricity using wind energy, it usually needs controls the blade of pitch-controlled system with wind speed and master The change regulation anglec of rotation of rotating speed, absorbs wind energy and changes into electric energy.
The conventional device of blade anglec of rotation control at present is to use the absolute value encoder with gear, by it with becoming oar The engagement of Bearing gear calculates the anglec of rotation.
But the encoder angular computational accuracy is low, and in the conversion of blade both forward and reverse directions rotation due to gear be present Back lash and make blade angle measurement inaccurate, and then affected indirectly the overall operation efficiency and stability of Wind turbines.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of wind generating set pitch control angle calibration method, apparatus and system, To solve the problems, such as that angle calculation precision is low in the prior art and blade angle measurement is inaccurate.
Other characteristics and advantage of the disclosure will be apparent from by following detailed description, or partially by the disclosure Practice and acquistion.
In a first aspect, the embodiments of the invention provide a kind of wind generating set pitch control angle calibration method, including：
The position where references angle is determined, pitch variable bearings are rotated counterclockwise to from the position of the references angle default First angle, absolute value encoder is reset, pitch variable bearings are rotated clockwise to the references angle；
The first current value when the absolute value encoder is located at the references angle is obtained, utilizes first current value Demarcate the preset first angle of incremental encoder；
The pitch variable bearings are rotated clockwise to preset second angle, obtain the absolute value encoder positioned at described pre- If the second current value during second angle, described default the second of the incremental encoder is demarcated using second current value Angle, wherein the preset second angle is more than the references angle.
Further, 0 degree of the references angle and wheel hub overlaps.
Further, the references angle and the preset second angle are respectively 0 degree and 90 degree.
Further, the preset first angle is 15 degree.
Further, the absolute value encoder engages with rotation gear and gear with the pitch variable bearings, described Incremental encoder is connected with becoming oar motor nonpowered axle.
Further, the change propeller angle of the wind-driven generator is calculated using the proven incremental encoder.
Further, motion time Li Yong not be described in the absolute value encoder and the incremental encoder calculate in real time The change propeller angle of wind-driven generator, by be compared determine alternative one whether failure.
Further, when one of the absolute value encoder and the incremental encoder break down, use Another calculates the change propeller angle.
Second aspect, the embodiments of the invention provide a kind of wind generating set pitch control angle calibration device, including：
Unit is reset, for determining the position where references angle, the inverse position by pitch variable bearings from the references angle Hour hands are rotated to preset first angle, and absolute value encoder is reset, and pitch variable bearings are rotated clockwise into the references angle；
Calibration with current signal unit, for obtaining the first current value when the absolute value encoder is located at the references angle, Utilize the preset first angle of first current value demarcation incremental encoder；
Angle calibration unit, for the pitch variable bearings to be rotated clockwise into preset second angle, obtain described absolute Value encoder is located at the second current value during the preset second angle, demarcates the increment type using second current value and compiles The preset second angle of code device, wherein the preset second angle is more than the references angle.
Further, motion time Li Yong not be described in the absolute value encoder and the incremental encoder calculate in real time The change propeller angle of wind-driven generator, by be compared determine alternative one whether failure.
Further, when one of the absolute value encoder and the incremental encoder break down, use Another calculates the change propeller angle.
The third aspect, the embodiments of the invention provide a kind of wind generating set pitch control angle calibration system, including it is absolute It is worth encoder, incremental encoder, pitch variable bearings and processor；
The position where references angle is determined, pitch variable bearings are rotated counterclockwise to from the position of the references angle default First angle, absolute value encoder is reset, pitch variable bearings are rotated clockwise to the references angle；
The first current value when the absolute value encoder is located at the references angle is obtained, utilizes first current value Demarcate the preset first angle of incremental encoder；
The pitch variable bearings are rotated clockwise to preset second angle, obtain the absolute value encoder positioned at described pre- If the second current value during second angle, described default the second of the incremental encoder is demarcated using second current value Angle, wherein the preset second angle is more than the references angle.
Further, the absolute value encoder engages with rotation gear and gear with the pitch variable bearings, described Increment type
, can be effectively by wind generating set pitch control angle calibration method provided by the present invention, apparatus and system Solve the problems, such as that angle calculation precision of the prior art is low and blade angle measurement is inaccurate, can further improve unit Operational efficiency and stability.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention Example, for those of ordinary skill in the art, on the premise of not paying creative work, it can also be implemented according to the present invention The content of example and these accompanying drawings obtain other accompanying drawings.
Fig. 1 is the wind generating set pitch control angle calibration method flow chart described in the specific embodiment of the invention one；
Fig. 2 is the signal of the wind generating set pitch control bearing and associated encoder described in the specific embodiment of the invention two Figure；
Fig. 3 is wind generating set pitch control angle calibration apparatus structure block diagram described in the specific embodiment of the invention three.
Reference numeral explanation：
1st, the absolute value encoder with rotation gear；
2nd, the incremental encoder of slurry motor anti-drive end is become；
3rd, -10 ° of limit switches
4th, 90 ° of limit switches；
5th, collision block；
A, 0 ° of position of bearing；
B, 0 ° of position of wheel hub.
Embodiment
For make present invention solves the technical problem that, the technical scheme that uses and the technique effect that reaches it is clearer, below The technical scheme of the embodiment of the present invention will be described in further detail with reference to accompanying drawing, it is clear that described embodiment is only It is part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those skilled in the art exist The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
Embodiment one
Fig. 1 is the wind generating set pitch control angle calibration method flow chart described in the present embodiment, as shown in figure 1, this reality Applying the wind generating set pitch control angle calibration method described in example includes：
Step S101, the position where references angle is determined, pitch variable bearings are counterclockwise from the position of the references angle Absolute value encoder is reset to preset first angle, pitch variable bearings is rotated clockwise into the references angle by rotation.
Because the motion mode of blade and bearing is to be rotated around axle center, the specific angle position rotated to it is not present unified Identification means, in order to give subsequent operation to provide a reference, it is necessary to first determine that references angle is made before being demarcated For the reference position of subsequent operation.Exemplarily, the references angle position is arranged to 0 degree with wheel hub by the present embodiment Coincide, 0 degree of position that can be using this reference angular position as blade or bearing.Certainly, any other angle position all may be used So that as the position where references angle, this is not limited by the present invention.
After the position of references angle is determined, the position where pitch variable bearings from the references angle is done one first Rotate counterclockwise, to first angle, now absolute value encoder is reset, absolute value encoder is with rotation gear and gear Engaged with pitch variable bearings.Pitch variable bearings are rotated counterclockwise into first angle position from references angle, can ensure subsequently marking Pitch motor rotates in the same direction during fixed, eliminates gear backlash that motor positive and inverse is brought to angle calibration band The interference come.
Step S102, the first current value when the absolute value encoder is located at the references angle is obtained, using described First current value demarcates the preset first angle of incremental encoder.
After encoder tanks, pitch variable bearings are rotated clockwise to where the references angle from the first angle Position, and obtain current value of the absolute value encoder at the angle position, for convenience, referred to as the first current value； Then, you can the first angle of incremental encoder is demarcated using obtained first current value.
Step S103, the pitch variable bearings are rotated clockwise to preset second angle, obtain the absolute value encoder The second current value during positioned at the preset second angle, the institute of the incremental encoder is demarcated using second current value State preset second angle.
Wherein described preset second angle is more than the references angle.
Then, continue to turn clockwise pitch variable bearings to second angle, and obtain absolute value encoder in the angle position When current value, i.e. the second current value；Then, you can second jiao using obtained second current value to incremental encoder Degree is demarcated.
So far, that is, the demarcation to encoder is completed, can carries out angle calculation using calibrated encoder afterwards And measurement.
Preferably, the change propeller angle of wind-driven generator is calculated using proven incremental encoder.
In the present invention, absolute value encoder engages with rotation gear and gear with pitch variable bearings, incremental encoder It is connected with becoming oar motor nonpowered axle.
Compared with prior art, because the incremental encoder rotary speed being connected with change oar motor is high in the present invention, And umber of pulse for each revolution is more, angle calculation precision is high, and drags blade in forward and reverse rotation in the absence of pitch motor The gear backlash problem walked around when changing, it is ensured that the accuracy of blade angle measurement.
Further, in order to ensure the reliability service of wind power generating set, the encoder output error broken down is avoided Angular values, and then have influence on the operation of whole Wind turbines, absolute encoder can be utilized respectively in unit actual motion Device and incremental encoder calculate change propeller angle in real time, and by being compared can determine that alternative one whether there is failure. It is standby by the way that absolute value encoder and incremental encoder are used as between each other, when one of them breaks down, then use Another calculates change propeller angle, is greatly improved the fault-tolerance of wind power generation set system, ensures that whole system is sustainably run.
Embodiment two
Fig. 2 is the signal of the wind generating set pitch control bearing and associated encoder described in the specific embodiment of the invention two Figure.As shown in Fig. 2 wherein：Absolute value encoder engages with rotation gear and gear with pitch variable bearings, incremental encoder It is connected with becoming oar motor nonpowered axle.During demarcation, first by the pitch variable bearings being connected with blade rotate counterclockwise to about- 15 ° of positions (collision block 5 on pitch variable bearings exceedes the distance of 3 teeth of -10 ° of limit switches 3).Absolute value encoder 1 is reset. Next, the pitch variable bearings that blade is connected are rotated clockwise to 0 ° of position, i.e. 0 ° of position in 0 ° of position of bearing and wheel hub overlaps, will be exhausted 0 ° of position is demarcated as to the current value of value encoder now.Then, continue to be rotated clockwise to 90 ° of positions, i.e. collision block 5 and 90 ° Limit switch 4 is in contact, and the current value of absolute value encoder now is demarcated as into 90 ° of positions.Absolute value encoder passes through gear 0 ° that can demarcate blade and 90 ° of positions are engaged with pitch variable bearings and angle calculation can be carried out in the range of 0 ° and 90 °.With exhausted Incremental encoder, incremental encoder and pitch motor anti-drive end are demarcated to the current value of 0 ° and 90 ° position of value encoder It is connected.Demarcation carries out Dynamic Identification after completing, it is possible to it was observed that the show value of incremental encoder 2 becomes from umber of pulse Angle position.Become oar during 0 ° of position and 90 ° of positions are demarcated in addition, pitch variable bearings are rotated to -15 ° of positions and ensure that Motor rotates in the same direction, eliminates the interference that the gear backlash that motor positive and inverse is brought is brought to angle calibration.
Incremental encoder is connected with pitch motor anti-drive end, and rotating speed is high, and angle calculation precision is high.Actual control uses The calculating angle of incremental encoder, and the calculating angle of absolute value encoder calculates angle real time contrast with incremental encoder To determine encoder whether failure, and as standby in the case of incremental encoder failure.
The present invention compared with prior art, due to become oar motor be connected incremental encoder rotary speed height, and And umber of pulse for each revolution is more, angle calculation precision is high, and drags blade in forward and reverse rotation in the absence of pitch motor Gear backlash problem during conversion, it is ensured that blade angle measurement is accurate.In the process of running, the angle of two encoders is passed through Spend real time contrast, it may be determined that whether one of encoder has failure, and two encoders can be each other in case of a fault It is standby, improve the stability and reliability of whole system.
Embodiment three
Fig. 3 is the wind generating set pitch control angle calibration apparatus structure block diagram described in the present embodiment, as shown in figure 3, this Wind generating set pitch control angle calibration device described in embodiment includes：
Unit 310 is reset, for determining the position where references angle, by pitch variable bearings from the position of the references angle Preset first angle is rotated counterclockwise to, absolute value encoder is reset, pitch variable bearings are rotated clockwise to the reference angle Degree；
Calibration with current signal unit 320, for obtaining the first electric current when the absolute value encoder is located at the references angle Value, the preset first angle of incremental encoder is demarcated using first current value；
Angle calibration unit 330, for the pitch variable bearings to be rotated clockwise into preset second angle, obtain described exhausted It is located at the second current value during the preset second angle to value encoder, the increment type is demarcated using second current value The preset second angle of encoder, wherein the preset second angle is more than the references angle.
Further, motion time Li Yong not be described in the absolute value encoder and the incremental encoder calculate in real time The change propeller angle of wind-driven generator, by be compared determine alternative one whether failure.
Further, when one of the absolute value encoder and the incremental encoder break down, use Another calculates the change vane angle further, and 0 degree of the references angle and wheel hub overlaps；And/or
The references angle and the preset second angle are respectively 0 degree and 90 degree；And/or
The preset first angle is 15 degree.
Further, the absolute value encoder engages with rotation gear and gear with the pitch variable bearings, described Incremental encoder is connected with becoming oar motor nonpowered axle；
The change propeller angle of the wind-driven generator is calculated using the proven incremental encoder.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes, Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.

Claims (10)

  1. A kind of 1. wind generating set pitch control angle calibration method, it is characterised in that including：
    The position where references angle is determined, pitch variable bearings are rotated counterclockwise to default first from the position of the references angle Angle, absolute value encoder is reset, pitch variable bearings are rotated clockwise to the references angle；
    The first current value when the absolute value encoder is located at the references angle is obtained, is demarcated using first current value The preset first angle of incremental encoder；
    The pitch variable bearings are rotated clockwise to preset second angle, obtain the absolute value encoder positioned at described default the The second current value during two angles, the described default second jiao of the incremental encoder is demarcated using second current value Degree, wherein the preset second angle is more than the references angle.
  2. 2. according to the method for claim 1, it is characterised in that 0 degree of the references angle and wheel hub overlaps；And/or
    The references angle and the preset second angle are respectively 0 degree and 90 degree；And/or
    The preset first angle is 15 degree.
  3. 3. according to the method for claim 1, it is characterised in that the absolute value encoder is with rotation gear and gear Engaged with the pitch variable bearings, the incremental encoder is connected with becoming oar motor nonpowered axle；
    The change propeller angle of the wind-driven generator is calculated using the proven incremental encoder.
  4. 4. according to the method for claim 1, it is characterised in that motion time Li Yong not the absolute value encoder and described Incremental encoder calculates the change propeller angle of the wind-driven generator in real time, by being compared determining whether alternative one is former Barrier.
  5. 5. according to the method for claim 4, it is characterised in that when the absolute value encoder and the incremental encoder When one of them breaks down, the change propeller angle is calculated using another.
  6. A kind of 6. wind generating set pitch control angle calibration device, it is characterised in that including：
    Unit is reset, it is for determining the position where references angle, pitch variable bearings are counterclockwise from the position of the references angle Absolute value encoder is reset to preset first angle, pitch variable bearings is rotated clockwise into the references angle by rotation；
    Calibration with current signal unit, for obtaining the first current value when the absolute value encoder is located at the references angle, utilize The preset first angle of the first current value demarcation incremental encoder；
    Angle calibration unit, for the pitch variable bearings to be rotated clockwise into preset second angle, obtain the absolute value and compile Code device is located at the second current value during the preset second angle, and the incremental encoder is demarcated using second current value The preset second angle, wherein the preset second angle is more than the references angle.
  7. 7. device according to claim 6, it is characterised in that motion time Li Yong not the absolute value encoder and described Incremental encoder calculates the change propeller angle of the wind-driven generator in real time, by being compared determining whether alternative one is former Barrier.
  8. 8. device according to claim 7, it is characterised in that when the absolute value encoder and the incremental encoder When one of them breaks down, the change propeller angle is calculated using another.
  9. 9. a kind of wind generating set pitch control angle calibration system, it is characterised in that encoded including absolute value encoder, increment type Device, pitch variable bearings and processor；
    The position where references angle is determined, pitch variable bearings are rotated counterclockwise to default first from the position of the references angle Angle, absolute value encoder is reset, pitch variable bearings are rotated clockwise to the references angle；
    The first current value when the absolute value encoder is located at the references angle is obtained, is demarcated using first current value The preset first angle of incremental encoder；
    The pitch variable bearings are rotated clockwise to preset second angle, obtain the absolute value encoder positioned at described default the The second current value during two angles, the described default second jiao of the incremental encoder is demarcated using second current value Degree, wherein the preset second angle is more than the references angle.
  10. 10. wind generating set pitch control angle calibration system as claimed in claim 9, it is characterised in that the absolute value is compiled Code device engages with rotation gear and gear with the pitch variable bearings, and the incremental encoder is non-driven with becoming oar motor Axle is connected；
    The change propeller angle of the wind-driven generator is calculated using the proven incremental encoder.
CN201610131549.3A 2016-03-08 2016-03-08 A kind of wind generating set pitch control angle calibration method, apparatus and system Active CN105673323B (en)

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CN108732981A (en) * 2017-04-19 2018-11-02 北京国电智深控制技术有限公司 A kind of motor speed monitoring system and method
CN107237724B (en) * 2017-05-22 2019-03-05 北京金风科创风电设备有限公司 Rotation angle acquisition system, fan yaw angle monitoring system and method
CN107313900A (en) * 2017-06-28 2017-11-03 沈阳华创风能有限公司 Hub of wind power generator blade position monitoring method and system
CN109296505B (en) * 2018-10-16 2020-06-23 深圳众城卓越科技有限公司 Position redundancy protection method and device for wind power pitch system
CN111075645B (en) * 2018-10-22 2021-06-29 中国船舶重工集团海装风电股份有限公司 Variable-pitch rotating speed control method, system and device of wind driven generator and wind driven generator
CN110439842B (en) * 2019-09-22 2020-12-01 中国航发沈阳发动机研究所 Stator blade rotation angle measuring structure and calibration method
CN112727678B (en) * 2020-12-29 2022-05-17 重庆电子工程职业学院 Fan variable pitch control system based on multiple fault-tolerant modes

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Patentee after: Taiyuan Heavy Industry Co., Ltd.

Address before: No. 53, Yuhe street, wanBerlin District, Taiyuan, Shanxi Province, 030024

Patentee before: Taiyuan Heavy Industry Co., Ltd.